Safe Manual Control of Pendulums - A Human Adaptive Mechatronics Perspective

Safe Manual Control of Pendulums

  Human Adaptive Mechatronics is a research project at Tokyo Denki University sponsored by Ministry of Education, Sports, Culture, Science and Technology (MEXT). Human Adaptive Mechatronics consists of Human and Mechatronics, and aims to develop Mechatronic systems adapting and assisting human operations. This paper explores the interaction of manual and automatic control in a demanding task where the process is unstable and has actuator limitation. The problem is inspired by control of high performance aircrafts but which is similar to controlling the arm of a Furuta pendulum while maintaining the stability of the pendulum.